Liberty Reach Inc.

Gary William Bartos

Michael Kallay

G Neil Haven

Fansheng Meng

Grason Brennan

David Shultis

A machine vision-based method and system for measuring 3D pose of a part or subassembly of parts having an unknown pose are disclosed. A number of different applications of the method and system are disclosed including applications which utilize a reprogrammable industrial automation machine such as a robot. The method includes providing a reference cloud of 3D voxels which represent a reference surface of a reference part or subassembly having a known reference pose. Using at least one 2D/3D hybrid sensor, a sample cloud of 3D voxels which represent a corresponding surface of a sample part or subassembly of the same type as the reference part or subassembly is acquired. The sample part or subassembly has an actual pose different from the reference pose. The voxels of the sample and reference clouds are processed utilizing a matching algorithm to determine the pose of the sample part or subassembly.

Machine vision-based method and system for measuring 3D pose of a part or subassembly of parts

Method and system for measuring outermost dimensions of a vehicle positioned at an inspection station and having top, front, back and side exterior surfaces are provided. The system includes a plurality of 3-D or depth sensors supported around and above the vehicle at the inspection station. Each of the sensors has a field of view so that one of the exterior surfaces of the vehicle is in one of the fields of view. Each sensor includes a set of radiation sensing elements which detect projected radiation reflected from its exterior surface to obtain sensor data. At least one processor processes the sensor data from each of the sensors to obtain a virtual 3-D model of the vehicle. Control logic is employed to obtain measurements of outermost dimensions of the vehicle based on the 3-D model.

Method and system for measuring outermost dimension of a vehicle positioned at an inspection station

A method and system for determining the presence or absence of a part of an assembly within at least one user-defined, 3-D detection region within a work cell are provided. The system includes a 3-D or depth sensor having a field of view at the work cell. The sensor has a set of radiation sensing elements which detect reflected, projected radiation to obtain 3-D sensor data. A processor processes the sensor data from the sensor to obtain a 3-D graphic of the at least one detection region. A display displays the 3-D graphic from a viewpoint to determine the presence or absence of the part within the detection region.

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Somerville, MA, United States of America

Gary William Bartos